From 58dd6f8d2b66c46ebde8ae67943a67ac139a5fcc Mon Sep 17 00:00:00 2001 From: "robertlipe@gmail.com" Date: Sun, 18 Nov 2012 20:32:00 +0000 Subject: [PATCH] Mathias Adam improves handling of GPS leap seconds in Skytraq. git-svn-id: http://gpsbabel.googlecode.com/svn/trunk@4206 f51c46e8-681c-474f-0cfe-069cfd0219fb --- gpsbabel/reference/skytraq-2.gpx | 186 +- gpsbabel/reference/skytraq-artificial.bin | Bin 4576 -> 4096 bytes gpsbabel/reference/skytraq-artificial.gpx | 542 ++-- gpsbabel/reference/skytraq-realdata.gpx | 3284 ++++++++++----------- gpsbabel/reference/skytraq.gpx | 434 +-- gpsbabel/skytraq.c | 121 +- 6 files changed, 2318 insertions(+), 2249 deletions(-) diff --git a/gpsbabel/reference/skytraq-2.gpx b/gpsbabel/reference/skytraq-2.gpx index 5f5ee8cbf..71e6d5f5d 100644 --- a/gpsbabel/reference/skytraq-2.gpx +++ b/gpsbabel/reference/skytraq-2.gpx @@ -13,559 +13,559 @@ 166.142176 - + 0.000000 TP0001 166.027106 - + 0.000000 TP0002 165.172097 - + 0.000000 TP0003 164.822774 - + 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*serial_handle = 0; /* IO file descriptor */ static int skytraq_baud = 0; /* detected baud rate */ static gbfile *file_handle = 0; /* file descriptor (used by skytraq-bin format) */ -static int utc_offset = 16; static char *opt_erase = 0; /* erase after read? (0/1) */ static char *opt_initbaud = 0; /* baud rate used to init device */ @@ -507,11 +506,70 @@ static unsigned int me_read32(const unsigned char *p) return ((unsigned)be_read16(p+2) << 16) | ((unsigned)be_read16(p)); } +static time_t +gpstime_to_timet(int week, int sec) +{ + /* Notes: + * * assumes we're between the 1st and 2nd week rollover + * (i.e. between 22 Aug 1999 and 7 April 2019), so this + * should be taken care of before the next rollover... + * * list of leap seconds taken from + * + * as of 2012-10-12. Please update when necessary. + * Announcement of leap seconds: + * + * * leap seconds of 1999 JAN 1 and before are not reflected + * here, beware when using this for really old data + * * overflow of sec into next week is allowed + * (i.e. sec >= 7*24*3600 = 604800 is allowed) + */ + time_t gps_timet = 315964800; /* Jan 06 1980 0:00 UTC */ + gps_timet += (week+1024)*7*SECONDS_PER_DAY + sec; + + /* leap second compensation: */ + gps_timet -= 13; /* diff GPS-UTC=13s (valid from Jan 01 1999 on) */ + if (gps_timet >= 1136073600) /* Jan 01 2006 0:00 UTC */ + gps_timet--; /* GPS-UTC = 14s */ + if (gps_timet >= 1230768000) /* Jan 01 2009 0:00 UTC */ + gps_timet--; /* GPS-UTC = 15s */ + if (gps_timet >= 1341100800) /* Jul 01 2012 0:00 UTC */ + gps_timet--; /* GPS-UTC = 16s */ + + return gps_timet; /* returns UTC time */ +} + +static void +ECEF_to_LLA(double x, double y, long z, double *lat, double *lon, double *alt) +{ + /* constants: */ + const double CA = 6378137.0; + const double CB = 6356752.31424518; + const double CE2 = (CA*CA - CB*CB) / (CA*CA); /* =e^2 */ + const double CE_2 = (CA*CA - CB*CB) / (CB*CB); /* =e'^2 */ + + /* auxiliary values: */ + double AP = sqrt(x*x + y*y); + double ATHETA = atan2(z*CA, AP*CB); + + /* latitude (in radians): */ + *lat = atan2(z + CE_2 * CB * pow(sin(ATHETA), 3), AP - CE2 * CA * pow(cos(ATHETA), 3)); + + /* longitude (in radians): */ + *lon = atan2(y, x); + + /* height above ellipsoid (in meters): */ + *alt = AP/cos(*lat) - CA/sqrt(1 - CE2 * pow(sin(*lat), 2)); + + *lat = *lat /M_PI*180; + *lon = *lon /M_PI*180; +} + struct read_state { route_head *route_head_; unsigned wpn, tpn; - time_t ts; + unsigned gps_week; + unsigned gps_sec; long x, y, z; }; @@ -529,7 +587,8 @@ state_init(struct read_state *pst) pst->wpn = 0; pst->tpn = 0; - pst->ts = 0; + pst->gps_week = 0; + pst->gps_sec = 0; pst->x = 0; pst->y = 0; pst->z = 0; @@ -542,49 +601,14 @@ make_trackpoint(struct read_state *st, double lat, double lon, double alt) xasprintf(&wpt->shortname, "TP%04d", ++st->tpn); - wpt->latitude = lat;; + wpt->latitude = lat; wpt->longitude = lon; wpt->altitude = alt; - wpt->creation_time = st->ts; + wpt->creation_time = gpstime_to_timet(st->gps_week, st->gps_sec); return wpt; } -static time_t -gpstime_to_timet(int week, int sec) -{ - /* TODO: make leap second compensation more general - * (the windows software seems to correct by a magic amount). - */ - return (315964800 + (week+1024)*7*SECONDS_PER_DAY + sec - utc_offset); -} - -static void -ECEF_to_LLA(double x, double y, long z, double *lat, double *lon, double *alt) -{ - /* constants: */ -#define CA 6378137.0 -#define CB 6356752.31424518 -#define CE2 (CA*CA - CB*CB) / (CA*CA) /* =e^2 */ -#define CE_2 (CA*CA - CB*CB) / (CB*CB) /* =e'^2 */ - /* auxiliary values: */ -#define AP sqrt(x*x + y*y) -#define ATHETA atan2(z*CA, AP*CB) -#define AN CA / sqrt(1 - CE2 * pow(sin(*lat), 2)) /* must calc *lat before using AN! */ - - // latitude (in radians): - *lat = atan2(z + CE_2 * CB * pow(sin(ATHETA), 3), AP - CE2 * CA * pow(cos(ATHETA), 3)); - - // longitude (in radians): - *lon = atan2(y, x); - - // height above ellipsoid (in meters): - *alt = AP/cos(*lat) - AN; - - *lat = *lat /M_PI*180; - *lon = *lon /M_PI*180; -} - typedef struct { gbuint32 gps_week; gbuint32 gps_sec; @@ -594,7 +618,7 @@ typedef struct { } full_item; typedef struct { - gbuint16 dt; // Is it right that time is unsigned and everything else is signed? Not sure, but without this being unsigned, we get odd failures on 64-bit systems. + gbuint16 dt; gbint16 dx; gbint16 dy; gbint16 dz; @@ -650,14 +674,15 @@ process_data_item(struct read_state *pst, const item_frame *pitem, int len) f.y = me_read32(pitem->full.y); f.z = me_read32(pitem->full.z); - pst->ts = gpstime_to_timet(f.gps_week, f.gps_sec); + pst->gps_week = f.gps_week; + pst->gps_sec = f.gps_sec; pst->x = f.x; pst->y = f.y; pst->z = f.z; - db(4, "Got %s item: week=%i sec=%i (time_t=%i) x=%i y=%i z=%i speed=%i\n", + db(4, "Got %s item: week=%i sec=%i x=%i y=%i z=%i speed=%i\n", poi ? "POI" : "full", - f.gps_week, f.gps_sec, pst->ts, + f.gps_week, f.gps_sec, f.x, f.y, f.z, ITEM_SPEED(pitem)); @@ -687,7 +712,7 @@ process_data_item(struct read_state *pst, const item_frame *pitem, int len) c.dt, c.dx, c.dy, c.dz, ITEM_SPEED(pitem), (pitem->comp.dpos[2] & 0x0F)>>2); - pst->ts += c.dt; + pst->gps_sec += c.dt; pst->x += c.dx; pst->y += c.dy; pst->z += c.dz; @@ -1183,10 +1208,6 @@ skytraq_read(void) static void file_init(const char *fname) { - if (1 || getenv("GPSBABEL_FREEZE_TIME")) { - // Offset when our reference files were made. Yes, this sucks. - utc_offset = 13; - } db(1, "Opening file...\n"); if ((file_handle = gbfopen(fname, "rb", MYNAME)) == NULL) { fatal(MYNAME ": Can't open file '%s'\n", fname); -- 2.30.2